introduction to embedded systems -...
TRANSCRIPT
Introduction to Embedded Systems
Tajana Simunic Rosing
Department of Computer Science and Engineering
UCSD
Welcome! Instructor:
Tajana Simunic Rosing Email: tajana-at-ucsd.edu; put WES in subject line
Office Hours: T 11:30-12:30pm, Th 5-6pm
Office Location: CSE 2118 Admin:
Sheila Manalo
Email: [email protected]
Phone: (858) 534-8873
Office: CSE 2272
TAs: Jug Venkatesh: Wed 6-7pm, Th 6-7pm
Ankit Baid: Mon 6-7pm, Tue 6-7pm
Location: CSE B260A
Grades: http://ted.ucsd.edu
Course website: http://cseweb.ucsd.edu/classes/wi13/wes237A-a/
Discussion board: https://piazza.com/#winter2013/wes237a
Course Objectives
Develop an understanding of the technologies
behind the embedded computing systems technology capabilities and limitations of the hardware,
software components
methods to evaluate design tradeoffs between different
technology choices.
design methodologies
Overview of a few hot research topics in ES
For more details, see the schedule on the webpage
Course Requirements No official graduate course as prerequisite
Knowledge Digital hardware, introductory electrical circuits concepts, computer
architecture (ISA, organization), programming & systems programming
Skills Ability to program (linux, C, C++, Android)
Ability to look up references and track down pubs (Xplore etc)
Ability to communicate your ideas (demos, reports)
Initiative Open-ended problems with no single answer requiring thinking and
research
Interest
Textbook & Assigned Reading
Required text:
By Peter Marwedel
2nd edition, Springer 2011
A set of papers will be required reading
will relate to the core topic of that class
you are expected to read it BEFORE the class
In addition I will give pointers to papers and
web resources
Reference books “Embedded, Everywhere: A Research Agenda for Networked Systems of Embedded Computers,”
National Research Council. http://www.nap.edu/books/0309075688/html/
John A. Stankovic and Kirthi Ramamritham, "Hard Real-Time Systems," IEEE Computer Society Press.
G.D. Micheli, W. Wolf, R. Ernst, “Readings in Hardware/Software Co-Design,” Morgan Kaufman.
S.A. Edwards, “Languages for Digital Embedded Systems,” Kluwer, 2000.
R. Melhem and R. Graybill, “Power Aware Computing,” Plenum, 2002.
M. Pedram and J. Rabaey, “Power Aware Design Methodologies,” Kluwer, 2002.
Bruce Douglass, "Real-Time UML - Developing Efficient Objects for Embedded Systems," Addison-Wesley, 1998.
Hermann Kopetz, "Real-Time Systems : Design Principles for Distributed Embedded Applications," Kluwer, 1997.
Hassan Gomaa, "Software Design Methods for Concurrent and Real-Time Systems," Addison-Wesley, 1993.
P. Lapsley, J. Bier, A. Shoham, and E.A. Lee, “DSP Processor Fundamentals: Architectures and Features,” Berkeley Design technology Inc,, 2001.
R. Gupta, "Co-synthesis of Hardware & Software for Embedded Systems," Kluwer, 1995.
Felice Balarin, Massimiliano Chiodo, and Paolo Giusto, "Hardware-Software Co-Design of Embedded Systems : The Polis Approach," Kluwer, 1997.
Jean J. Labrosse, "Embedded Systems Building Blocks : Complete And Ready To Use Modules In C ," R&D Publishing, 1995.
Jean J. Labrosse, "uC / OS : The Real Time Kernel," R&D Publishing, 1992.
Embedded Systems on the Web Berkeley Design technology, Inc.: http://www.bdti.com
EE Times Magazine: http://www.eet.com/
Linux Devices: http://www.linuxdevices.com
Embedded Linux Journal: http://embedded.linuxjournal.com
Embedded.com: http://www.embedded.com/ Embedded Systems Programming magazine
Circuit Cellar: http://www.circuitcellar.com/
Electronic Design Magazine: http://www.planetee.com/ed/
Electronic Engineering Magazine: http://www2.computeroemonline.com/magazine.html
Integrated System Design Magazine: http://www.isdmag.com/
Sensors Magazine: http://www.sensorsmag.com
Embedded Systems Tutorial: http://www.learn-c.com/
Collections of embedded systems resources http://www.ece.utexas.edu/~bevans/courses/ee382c/resources/
http://www.ece.utexas.edu/~bevans/courses/realtime/resources.html
Newsgroups comp.arch.embedded, comp.cad.cadence, comp.cad.synthesis, comp.dsp,
comp.realtime, comp.software-eng, comp.speech, and sci.electronics.cad
Embedded Systems Courses Alberto Sangiovanni-Vincentelli @ Berkeley
EE 249: Design of Embedded Systems: Models, Validation, and Synthesis http://www-cad.eecs.berkeley.edu/~polis/class/index.html
Brian Evans @ U.T. Austin EE382C-9 Embedded Software Systems
http://www.ece.utexas.edu/~bevans/courses/ee382c/index.html
Edward Lee @ Berkeley EE290N: Specification and Modeling of Reactive Real-Time Systems
http://ptolemy.eecs.berkeley.edu/~eal/ee290n/index.html
Mani Srivastava @ UCLA
EE202A: Embedded and Real Time Systems http://nesl.ee.ucla.edu/courses/ee202a/2003f/
Bruce R. Land @ CMU
EE476: Designing with Microcontrollers
http://instruct1.cit.cornell.edu/courses/ee476
Conferences and Journals Conferences & Workshops
ACM/IEE DAC
IEEE ICCAD
IEEE RTSS
ACM ISLPED
IEEE CODES+ISSS
CASES
Many others…
Journals & Magazines
ACM Transactions on Design Automation of Electronic Systems
ACM Transactions on Embedded Computing Systems
IEEE Transactions on Computer-Aided Design
IEEE Transactions on VLSI Design
IEEE Design and Test of Computers
IEEE Transactions on Computers
Journal of Computer and Software Engineering
Journal on Embedded Systems
10
Class Topics
Verification and Validation
Hardware Hardware components
Note: Subject to change
Day 1: Introduction and Modeling
Project part #1 assigned
Chapter 1, Chapter 2 Sec. 2.1 to 2.6
Edwards et al.:” Design of Embedded Systems: Formal Models, Validation and Synthesis”
Murata:”Petri nets: Properties, Analysis and Applications” p. 541-553, Sec. VIII
Day 2: Modeling, Timing, and Scheduling
Quiz #1; Project part #1 due, part #2 assigned
Chapter 2 Sec. 2.7 to 2.10, Chapter 6 Sec. 6.1 to 6.2
Lee et al. “Static scheduling of synchronous DF programs for DPS”
Benveniste et al.”The Synchronous Languages 12yrs Later”
Raynal, Singhal ”Logical time: A way to capture causality in distributed systems”
Day 3: Scheduling, RTOS and Software
Quiz #2; Project part #2 due, part #3 assigned
Chapter 6 section 6.2, Chapter 4, Chapter 7 Sec. 7.1 to 7.3
Sha et al.”Generalized rate-monotonic scheduling theory…”
I.C. Bertolotti: "Real-Time embedded operating systems: standards and perspectives chap. 11.1,2,4,5
Day 4: Embedded Hardware, Power, Energy, and Thermal
Quiz #3;
Chapter 3 Sec. 3.3 to 3.4, Chapter 5, Chapter 7 Sec. 7.4
"Moyer: “Low-power design for embedded processors”
Wolf et al. ”Memory System Optimization of Embedded Software”
L. Benini, A. Bogliolo, and G. De Micheli. "A survey of design techniques for system-level dynamic power management"
G. Dhiman, T. Simunic Rosing, "Using online learning for system level power management"
Day 5: Sensors, Actuators, I/O, and HW/SW Co-design
Quiz #4; Final project demo and report due
Chapter 3 Sec. 3.1, 3.2, 3.5, 3.6, Chapter 6 Sec. 6.3 to 6.4,
Culler, Estrin, “Overview of sensor networks”
Hard Real-time Communication in Multiple-Access Networks
De Micheli, Gupta: “Hardware/Software Co-Design”
03/23/2012 Final – in class, 1hr 20min
WES class schedule
WES Course Daily Timeline
9:30-10am Review, Q&A
10-10:30am Quiz
10:30-12pm Lecture
12-12:30 TAs: sample problems
12:30-1:30pm Lunch
1:30-3pm Lecture
3-3:30pm TAs: sample problems
3:30-5:00 TAs: Project and/or additional lecture
Course Grading
Class participation: 4%
Come prepared to discuss the assigned paper(s)
Quizzes (~4): 16%
Embedded systems project 40%
Tools for modeling of embedded systems, cross-compile and
analyze energy/performance of various mobile apps, make kernel
more energy efficient
Three parts:
Individual: Part 1: 5%, Part 2: ~20% of the total project grade
Team of two: Part 3: ~75% of the total project grade
Final exam: 40%
Embedded Systems on the Web Berkeley Design technology, Inc.: http://www.bdti.com
EE Times Magazine: http://www.eet.com/
Linux Devices: http://www.linuxdevices.com
Embedded Linux Journal: http://embedded.linuxjournal.com
Embedded.com: http://www.embedded.com/ Embedded Systems Programming magazine
Circuit Cellar: http://www.circuitcellar.com/
Electronic Design Magazine: http://www.planetee.com/ed/
Electronic Engineering Magazine: http://www2.computeroemonline.com/magazine.html
Integrated System Design Magazine: http://www.isdmag.com/
Sensors Magazine: http://www.sensorsmag.com
Embedded Systems Tutorial: http://www.learn-c.com/
Collections of embedded systems resources http://www.ece.utexas.edu/~bevans/courses/ee382c/resources/
http://www.ece.utexas.edu/~bevans/courses/realtime/resources.html
Newsgroups comp.arch.embedded, comp.cad.cadence, comp.cad.synthesis, comp.dsp,
comp.realtime, comp.software-eng, comp.speech, and sci.electronics.cad
Embedded Systems Courses Alberto Sangiovanni-Vincentelli @ Berkeley
EE 249: Design of Embedded Systems: Models, Validation, and Synthesis http://www-cad.eecs.berkeley.edu/~polis/class/index.html
Brian Evans @ U.T. Austin EE382C-9 Embedded Software Systems
http://www.ece.utexas.edu/~bevans/courses/ee382c/index.html
Edward Lee @ Berkeley EE290N: Specification and Modeling of Reactive Real-Time Systems
http://ptolemy.eecs.berkeley.edu/~eal/ee290n/index.html
Mani Srivastava @ UCLA
EE202A: Embedded and Real Time Systems http://nesl.ee.ucla.edu/courses/ee202a/2003f/
Bruce R. Land @ CMU
EE476: Designing with Microcontrollers
http://instruct1.cit.cornell.edu/courses/ee476
Conferences and Journals Conferences & Workshops
ACM/IEE DAC
IEEE ICCAD
IEEE RTSS
ACM ISLPED
IEEE CODES+ISSS
CASES
Many others…
Journals & Magazines
ACM Transactions on Design Automation of Electronic Systems
ACM Transactions on Embedded Computing Systems
IEEE Transactions on Computer-Aided Design
IEEE Transactions on VLSI Design
IEEE Design and Test of Computers
IEEE Transactions on Computers
Journal of Computer and Software Engineering
Journal on Embedded Systems
What are embedded
systems and why should we care?
What are
embedded systems? Systems which use computation to perform a
specific function
embedded within a larger device and environment
Heterogeneous & reactive to environment
Main reason for buying is not information processing Main reason for buying is not information processing
Embedded processor market
Processors strongly affect SW development – keeps their prices high
Only 2% of processors drive PCs!
ARM sells 3x more CPUs then Intel sells Pentiums
79% of all high-end processors are used in embedded systems
Source: EETimes
Tied to advances in semiconductors
A typical chip in near future
1-10 GHz, 100-1000 MOP/sq mm, 10-100 MIPS/mW
Cost is almost independent of functionality
10,000 units/wafer, 20K wafers/month
$5 per part
Processor, MEMS, Networking, Wireless, Memory
But it takes $20M to build one today, going to $50+M
So there is a strong incentive to port your application,
system, box to the “chip”
Source: RG UCSD
Trends in Embedded Systems
Increasing code size
average code size: 16-64KB in 1992, 64K-512KB in 1996
migration from hand (assembly) coding to high-level languages
Reuse of hardware and software components
processors (micro-controllers, DSPs)
software components (drivers)
Increasing integration and system complexity
integration of RF, DSP, network interfaces
32-bit processors, IO processors (I2O)
Structured design and composition methods are essential.
Source: RG UCSD
Characteristics of Embedded Systems
Application specific
Efficient
energy, code size, run-time, weight, cost
Dependable
Reliability, maintainability, availability, safety, security
Real-time constraints
Soft vs. hard
Reactive - connected to physical environment
sensors & actuators
Hybrid
Analog and digital
Distributed
Composability, scalability, dependability
Dedicated user interfaces
embedded
real-time
embedded
real-time
Applications • Medical systems
e.g. “artificial eye”
• Medical systems
e.g. “artificial eye”
www.dobelle.com
• e.g. “micro-needles” • e.g. “micro-needles”
Source: ASV UCB
On-chip Chemistry
electromagnet area
underneath device
arm 1
4 mm
holes for fluidic
contact
holes for electrical
contact
1 mm
arm 2 arm3
Pedometer
Obvious computer work: Count steps
Keep time
Averages
etc.
Hard computer work: Actually identify when a
step is taken
Sensor feels motion of device, not of user feet
© Jakob Engblom
If you want to play
Lego mindstorms robotics kit Standard controller
8-bit processor
64 kB of memory
Electronics to interface to motors and sensors
Good way to learn embedded systems
© Jakob Engblom
Mobile phones Multiprocessor
8-bit/32-bit for UI
DSP for signals
32-bit in IR port
32-bit in Bluetooth
8-100 MB of memory
All custom chips
Power consumption &
battery life depends on
software
© Jakob Engblom
Inside the PC
Custom processors Graphics, sound
32-bit processors IR, Bluetooth
Network, WLAN
Hard disk
RAID controllers
8-bit processors USB
Keyboard, mouse
© Jakob Engblom
Mobile base station
Massive signal processing
Several processing tasks per
connected mobile phone
Based on DSPs
Standard or custom
100s of processors
© Jakob Engblom
Telecom Switch
Rack-based
Control cards
IO cards
DSP cards
...
Optical & copper
connections
Digital & analog
signals
© Jakob Engblom
Smart Welding Machine
Electronics control voltage &
speed of wire feed
Adjusts to operator
kHz sample rate
1000s of decisions/second
Perfect weld even for quite
clumsy operators
Easier-to-use product, but no
obvious computer
© Jakob Engblom
Cars Multiple processors networked together (~100), wide variety of CPUs:
8-bit – door locks, lights, etc; 16-bit – most functions; 32-bit – engine control, airbags
Multiple networks
Body, engine, telematics, media, safety
90% of all innovations based on electronic systems
More than 30% of cost is in electronics
© Jakob Engblom, ASV UCB
Source: ASV UCB
Amtrak Acela High Speed Train
High speed tilting train service between Boston, New York, and
Washington, D.C.
Built by Bombardier, uses FT-10 free topology twisted pair channel to
monitor and control propulsion, power inverters, braking, fire
protection systems, ride stability, safety, and comfort.
Transportation
Source: Echelon
Coeur Défense, Paris
Location and access
The biggest office property complex in Europe located at the heart of the central esplanade of the Paris-La Défense business district
The building
Property complex with a total floor area of 182,000 m² in two towers 180 metres high (39 floors) and 3 small (8-floors) buildings linked to each other by a "glass cathedral".
Building Automation System
15000 embedded control devices
One (1) i.LON™ 100 per floor (150 floors) for routing data
Building Automation
Source: Echelon
Process Control
Bellagio Hotel, Las
Vegas NV
Water fountain show
Fountain and sprinkler
systems controls
Pump controls
Valve controls
Choreographed lights
and music
Leak detection
Source: Echelon
Embedded system metrics Some metrics: performance: MIPS, reads/sec etc.
power: Watts
cost: Dollars Nonrecurring engineering cost, manufacturing cost
size: bytes, # components, physical space occupied
Flexibility, Time-to-prototype, time-to-market
Maintainability, correctness, safety
MIPS, Watts and cost are related technology driven
to get more MIPS for fewer Watts look at the sources of power consumption
use power management and voltage scaling
Source: MS HPL